/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2016, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *       * Neither the name of the Southwest Research Institute, nor the names
 *       of its contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_MOTOMAN_UTILS_H
#define MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_MOTOMAN_UTILS_H

#include <sstream>
#include <iostream>
#include <string>
#include <map>

#include "motoman_driver/industrial_robot_client/robot_group.h"

namespace industrial_robot_client
{
namespace motoman_utils
{
/**
 * \brief Parses multi-group joints from topic_param
 *
 * \param topic_param base parameter name that holds the joint group listing
 * \param robot_groups returns map of robot groups parsed from topic parameter
 *
 * \return true on success, false if parameter not found
 */
bool getJointGroups(const std::string topic_param, std::map<int, RobotGroup> & robot_groups);

}//motoman_utils
}//industrial_robot_client

#endif /* MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_MOTOMAN_UTILS_H */
